Research On Vehicle Longitudinal Collision Avoidance System Based On Millimeter Wave Radar

In recent years,the rapid development of the automotive industry has led to a fast growth in the number of car ownership in China.However,the number of casualties caused by the resulting traffic accidents remains high.From the perspective of protecting personal safety and reducing the possibility of traffic accidents,the anti-collision system enables the driver to take automatic emergency braking measures without being aware of the risk of collision with the preceding vehicle,avoiding collision with the preceding vehicle or Slowing down the harm caused by direct collision with the preceding vehicle has become more and more popular.The key technology of the anti-collision system is to rely on sensors installed on the front of the car body to detect the front target,accurately obtain the effective information of the target in front of the car,and can track the forward target to predict its next movement state and then take corresponding measures.With the increasing demand for automotive safety performance,more and more research institutions and automotive companies are paying attention to the research on anti-collision systems.In order to solve the problem of information sensing,target detection and identification tracking of the vehicle longitudinal collision avoidance system,the following work was carried out based on the millimeter wave radar sensor:Firstly,the difference of sensors used in target detection of vehicle anti-collision system is compared.Millimeter-wave radar is selected as the sensor of vehicle anti-collision system.The main functions of millimeter-wave radar in anti-collision system are introduced in detail.A method of accurate detection of the target in front of the vehicle based on millimeter-wave radar is designed.By preprocessing the data of the millimeter-wave radar target,it can accurately identify the front target and verify it through experiments.Second,according to the characteristics of the car's driving,the vehicle's state of motion in front of the vehicle is analyzed and studied,and the vehicle's target movement model in front of the vehicle is established.Compare the characteristics of several target motion models,and then select the appropriate target motion model for target tracking theoretical analysis.Based on the Kalman filter algorithm,combined with the characteristics of the target motion in front of the vehicle,Then select the appropriate target motion model for target tracking theoretical analysis.According to the characteristics of target motion in front of the vehicle,a Kalman filter tracking method based on the target motion model is used to build a simulation model in the Simulink software environment.The constant velocity model,the constant acceleration model,and the current statistical model Kalman filter tracking algorithm are applied to the uniform motion of the vehicle.Comparing the target tracking simulation with the three front target driving conditions of accelerating and accelerating.Finally,on the premise of ensuring the accuracy of radar installation,a real vehicle test platform is built for the anti-collision system based on millimeter-wave radar,and a real vehicle tracking test is performed on the front of the vehicle using the Kalman filter tracking algorithm based on the current statistical model.The results show that the target tracking algorithm used in this paper works well and can accurately track the vehicle in front.Based on this target algorithm,the anti-collision experiment was carried out,and the stationary vehicle was used as the front target to conduct an actual vehicle test,which verified the effectiveness of the vehicle longitudinal anticollision system and its algorithm.